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Parker was born in Kinston, North Carolina. His father played piano and drums; his mother and father both sang in church. His brother Melvin played drums and his brother Kellis trombone.[2] He and his brother Melvin joined James Brown in 1964; in his autobiography, Brown says that he originally wanted Melvin as his drummer, but agreed to take Maceo under his wing as part of the deal.[3] In 1970 Parker, his brother Melvin, and a few of Brown's band members left to found Maceo & All the King's Men, which toured for two years.[4]

In 1974, Parker returned to James Brown. He also charted a single "Parrty – Part I" (#71 pop singles) with Maceo & the Macks that year. In 1975, Parker and some of Brown's band members, including Fred Wesley, left to join George Clinton's band Parliament-Funkadelic.[5] Parker once again re-joined James Brown from 1984 to 1988.

In the 1990s, Parker began a solo career. His first album of this period "Roots Revisited" spent 10 weeks at the top of the Billboard Contemporary Jazz Charts To date he has released 11 solo albums since 1990. His band has been billed as "the greatest little funk orchestra on earth" and the "million-dollar support band".

In 2007, Parker performed as part of Prince's band for Prince's 21 nights at the O2 arena. Parker also played as part of Prince's band for his 21-night stay at LA's Forum in 2011.

Parker's album Roots & Grooves with the WDR Big Band is a tribute to Ray Charles, whom Parker cites as one of his most important influences. The album won a Jammie for best Jazz Album in 2009. Parker followed this up with another collaboration with WDR Big Band in 2012 with the album Soul Classics.

In October 2011, Parker was inducted in the North Carolina Music Hall of Fame.[6]

In July 2012 Parker was the recipient of a Lifetime Achievement Award from Victoires Du Jazz in Paris. He continues touring, headlining many jazz festivals in Europe and doing as many as 290 concerts a year.[7]

In May 2016 Parker will receive The North Carolina Heritage Award from his home state.[8]